Abstract
In this paper, an intelligent system use fuzzy-PD controller based on relation models is developed for a two-wheeled self-balancing robot. Scaling factors of the fuzzy-PD controller are optimized by a Cross-Entropy optimization method. A linear Quadratic Regulator is designed to bring a comparison with the fuzzy-PD controller by control quality parameters. The controllers are ported and run on STM32F4 Discovery Kit based on the real-time operating system. The experimental results indicate that the proposed fuzzy-PD controller runs exactly on embedded system and has desired performance in term of fast response, good balance and stabilize.
Similar content being viewed by others
References
R. Jager, Fuzzy Logic in Control (Technische Universiteit Delft, 1995)
D.N. Anisimov, E.D. Drozdova, N.V.N. Mekhatronika, Avtomatizatsiya, Upravlenie 9, 6 (2014)
D.N. Anisimov, M.T. Anh, in Informatics: Problems, Methodology, Technologies (Voronezh, Russia, 2016), pp. 20–25
D.N. Anisimov, M.T. Anh, in Proceedings of the International Academic Forum AMO – SPITSE – NESEFF (Moscow - Smolensk, Russia, 2016), pp. 47–48
F. Grasser, A. D’Arrigo, S. Colombi, A. Ruffer, IEEE Trans. Elect. 49, 107 (2002)
J. Li, X. Gao, Q. Huang, Matsumoto, in Proceedings of IEEE International Conference on Mechatronics and Automation (2008), pp. 7–12
E.H. Mamdani, S. Assilian, Int. J. Man-Machine Studies 7, 1 (1975)
W. Pedrycz, Fuzzy Control and Fuzzy Systems (John Wiley and Sons, New York, 1994)
S.W. Nawawi, M.N. Ahmad, J.H.S. Osman, Waset 39, 39 (2007)
U. Farooq, M.U. Asad, A. Hanif, K.M. Hasan, M. Amar, Adv. Mat. Res. 403–408, 4918 (2012)
A.S. Wardoyo, S. Hendi, D. Sebayang, in IEEE International Conference on Control, Automation and Robotics (ICCAR) (2015)
N. Esmaeili, A. Alfi, H. Khosravi, J. Intell. Robotic Syst. 1, 1 (2017)
G. Scaglia, E. Serrano, A. Rosales, P. Albertos, Control Eng. Pract. 45, 123 (2015)
M. Baloh, M. Parent, in Conference on Computational Intelligence, Robotics, and Autonomous Systems, 2003, pp. 1–7
A. Salerno, J. Angeles, IEEE Trans Robotics 23, 169 (2007)
Y. Kim, S. Lee, D.H. Kim, in International Conference on Control, Automation and Systems, 2011 pp. 8534–854
T. Takei, R. Imamura, S. Yuta, IEEE Trans. Ind. Electron. 56, 3989 (2009)
W. Junfeng, Z.H. Wanying, in International Conference on Intelligent Computation Technology and Automation, 2011, pp. 476–479
K. Pathak, J. Franch, S.K. Agrawal, IEEE Trans. Robot. Autom. 21, 505 (2005)
C.H. Chiu, IEEE Trans. Ind. Electron. 57, 1814 (2010)
H.T. Yau, C.C. Wang, N.S. Pai, M.J. Jang, in International Symposium on Knowledge Acquisition and Modeling, 2009, pp. 268–271
S.C. Lin, C.C. Tsai, H.C. Huang, in IEEE International Conference on Systems, Man, and Cybernetics, 2009, pp. 1965–1970
J. Wu, Y. Liang, Z. Wang, in International Forum on Strategic Technology, 2011, pp. 1031–1035
A. Wasif, D. Raza, W. Rasheed, Z. Farooq, S.Q. Ali, in IEEE International Conference on Digital Information Management system, Man, and Cybernetics, 2013, pp. 187–193
K.H. Su, Y.Y. Chen, in SICE Annual Conference, 2010, pp. 1838–2842
J. Wu, S. Jia, in International Forum on Strategic Technology, 2011, pp. 1023–1026
C.H. Chiu, Y.W. Lin, C.H. Lin, Mechatronics 21, 523 (2011)
L. Zheng, in IEEE International Conference on Fuzzy Systems, 1992, pp. 633–640
Z. Botev, D.P. Kroese, in Proceedings of the 36th Conference on Winter Simulation, 2004, pp. 529–535
R.E. Haber, R.M. delToro, A. Gajate, Inf. Sci. 180, 2777 (2010)
M.A. Olivares-Mendez, L. MejiasPascual, C. Mellado-Bataller, J. Intelligent & Robotic Systems 69, 189 (2013)
F. Celeste, F. Dambreville, J.-P. Le Cadre, in International Conference on Information Fusion, 2006, p. 18
F. Belmudes, D. Ernst, L. Wehenkel, in Proceedings of the 10th International Conference on Probabilis-tic Methods Applied to Power Systems, 2008, p. 17
M. Kobilarov, in Proceedings of Robotics: Science and Sys-tems, 2011, pp. 22–30
Y. Zhang, C. Ji, W. Malik, D. OBrien, D. Edwards, IET Mi-crowaves Antennas Propag. 1, 1131 (2007)
M. Bodur, in Proceedings of the World Congress on Engineering, 2007, pp. 93–98
R.Y. Rubinstein, Eur. J. Oper. Res. 99, 89 (1996)
S.-J. Huang, S.-H. Lee, S.-C. Lin, Int. Scholarly and Sci. Res. Innovation. 10, 1400 (2016)
H.W. Kim, S. Jung, Int. J. Fuzzy Logic Intell. Syst. 12, 154 (2012)
J. Fang, Int. J. Control Automation 7, 109 (2014)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Anisimov, D.N., Dang, T.S., Banerjee, S. et al. Design and implementation of fuzzy-PD controller based on relation models: A cross-entropy optimization approach. Eur. Phys. J. Spec. Top. 226, 2393–2406 (2017). https://doi.org/10.1140/epjst/e2017-70069-y
Received:
Published:
Issue Date:
DOI: https://doi.org/10.1140/epjst/e2017-70069-y